Synthesis of Spatial 5-Link Path Generator : Part 1, Two Couplers Joined by a Spherical Pair
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概要
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For the purpose of describing spatial paths, two methods are suggested : one is realized by composing several planar mechanisms, and the other by using pairs with multiple degrees of freedom. In this paper, a spatial 5-link mechanism whose couplers are joined by a spherical pair is studied. The coupler motions of some triads composed of a fixed link, an arm, and a coupler are analyzed, and the relations between the shape of the triad and the position and moving direction of the coupler are derived. Then joining two couplers by a spherical pair, a mechanism which satisfies two precision positions, the directions of motion, and the path between them is synthesized. Moreover, it is experimentally proved that the mechanism has no change point and no intersection of links, and has high static and dynamic accuracy.
- 一般社団法人日本機械学会の論文
著者
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Ogawa Kiyoshi
Tokyo Institute of Technology
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SHIMOJIMA Hiroshi
Tokyo Institute of Technology
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TAKEUCHI Takashi
Research Laboratory of Komatsu Factory Co., Ltd.
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Takeuchi Takashi
Research Institute Of Electrical Communication Tohoku University
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Takeuchi Takashi
Research And Development Center Oita University
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